JPH08189831A - Rolling measuring apparatus - Google Patents

Abstract

PURPOSE: To provide a rolling measuring apparatus which can continuously measure a rolling state of an object to be measured without lowering the work efficiently of construction, etc. CONSTITUTION: An optical gyro sensor package is composed of an optical fiber gyro compass 46 to measure the absolute direction of an excavator and a yaw rate sensor 48 to measure the relative direction of the excavator. The measurement of the absolute direction by the optical fiber gyro compass 46 can be carried out when excavation work by the excavator is stopped and the excavator is stopped. The yaw rate sensor 48 can be operated even at the time of excavation by the excavator and can continuously detect the relative direction. Consequently, the absolute direction of the excavator can be measured intermittently by the optical fiber gyro compass 46 and at the same time, independently of the driving state of the excavator, the direction of the excavator can be measured continuously by computing the relative angle alteration from the absolute direction by the yaw rate sensor 48.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a rolling measuring device for detecting a rolling condition of an object to be measured such as an excavator used in an underground continuous wall construction method.

[0002]

2. Description of the Related Art Conventionally, in the excavation of a continuous underground wall of deep underground, a groove has been excavated along a planned excavation route such that an end of the excavator overlaps an adjacent excavation route.

FIG. 9 shows an example of the excavator 10 during the excavation operation.

FIGS. 1A, 1B, and 1C are a front view, a side view, and a plan view, respectively.

In such excavation, since the excavator 10 has its upper surface 10a suspended by a cable,
As shown in FIGS. 9A, 9B, and 9C, pitching, yawing, rolling, or the like occurs. Among these, pitching and yawing can be accurately measured with an inclinometer provided in the excavator, but measurement of rolling around the vertical axis shown in FIG. 9C was not easy.

In general, there is a high possibility that the entire excavator will roll due to the soil condition at the excavation position, the bedrock, and the like. Especially, when excavating a large depth, the effect of this rolling is accumulated. Once such rolling occurs, the excavated trench itself is distorted. For this reason, the previous excavation route and the present excavation route did not satisfactorily continue and meandered, and in the worst case, the excavator could not be taken out to the ground, or the rebar cage for making the wall was installed. There is a problem that it cannot be carried into the groove.

For this reason, conventionally, the excavator is suspended by two wire ropes, and further two are used for measuring the twist angle.
It was suspended by a measuring wire of a book and the twist angle was measured to monitor the rolling. That is, the twist angle of the excavator itself is detected by measuring the relative twist angle of the two measuring wires.

Further, it has been proposed that the excavator itself has a gyrocompass, and the rolling state is monitored by directly detecting the direction of the entire excavator.

[0009]

However, in the conventional method of detecting the rolling of the excavator by using the above-mentioned two measuring wires, the excavator is moved from the groove that has been dug to the next groove. In addition, it is necessary to perform accurate positioning for each of the two measurement wires and set the reference position, which causes a problem that work efficiency of excavation work is significantly reduced. Moreover, in the conventional method in which the mechanical gyrocompass is mounted on the excavator itself, it is easy to be damaged by vibration during excavation, and moreover, it is necessary to stop the excavation and perform measurements, so continuous measurement is impossible. There was a problem with efficiency. In particular, accurate measurement cannot be performed unless the excavator, which is the object to be measured, does not vibrate.
Moreover, it takes about 5 to 10 minutes to measure the rolling state, so it is difficult to measure the rolling state without hindering the excavation work. In particular, the rolling measurement cannot be performed in real time during the excavation work, which is not practical. It was

Although a method using an optical gyro has been proposed, this method has a drawback that measurement errors are accumulated.

The present invention has been made in view of the above points, and an object thereof is to continuously measure the rolling state of an object to be measured without lowering the work efficiency of construction work or the like. It is to provide a rolling measuring device.

[0012]

In order to solve the above-mentioned problems, the rolling measuring apparatus of the present invention comprises an optical fiber gyro compass for detecting the absolute azimuth of the object to be measured about the vertical axis, and the object to be measured. First to detect the rotational angular velocity of
Optical fiber gyro, and rolling calculation means for calculating a twist angle around the vertical axis of the object to be measured, wherein the optical fiber gyro compass is a second optical fiber gyro that detects a rotational angular velocity of the object to be measured. And a turntable for rotating the second optical fiber gyro, the rolling calculation means based on an output of the second optical fiber gyro obtained when the turntable is rotated, An absolute azimuth calculating means for calculating an absolute azimuth with respect to the object to be measured; a relative azimuth calculating means for detecting a relative azimuth of the object to be measured based on the rotational angular velocity detected by the first optical fiber gyro; And a twist angle calculating means for calculating a twist angle around the vertical axis of the DUT based on the relative azimuth, and measures the rolling of the DUT. And wherein the door.

Here, each of the first and second optical fiber gyros has a sensing loop portion in which an optical fiber is formed in a loop shape, and is formed so as to detect a rotational angular velocity of the sensing loop portion. Is preferably formed so as to rotate while keeping the sensing loop surface of the second optical fiber gyro substantially perpendicular to the ground.

Further, the absolute azimuth calculating means is formed so as to detect an angle from true north or true south with respect to the object to be measured as an absolute azimuth and to calculate an orientation of the object to be measured with respect to the absolute azimuth as a reference azimuth. It is preferable that the relative azimuth calculation means calculates the rotation angle from the reference azimuth as the relative azimuth of the object to be measured.

Further, the absolute azimuth calculation means is based on the output of the second optical fiber gyro obtained when the turntable is rotated while the movement of the object to be measured is stopped. It is preferable to calculate the absolute orientation of the object.

Further, the first and second optical fiber gyros may be formed as the same optical fiber gyro.

Further, the optical fiber gyro compass and the first optical fiber gyro may be installed in an excavator for continuous underground wall excavation, and may be formed to measure a twist angle of the excavator.

Further, the optical fiber gyro compass and the first optical fiber gyro are installed in an underground excavator used for a cast-in-place pile construction method or the like, and can be formed so as to measure a twist angle of the underground excavator. .

Further, the optical fiber gyro compass and the first optical fiber gyro can be installed in an excavator used in a vertical excavation shield construction method, and formed so as to measure a twist angle of the excavator.

In the present invention, the absolute azimuth of the object to be measured is detected by the optical fiber gyro compass and the rotational angular velocity of the object to be measured is detected by the first optical fiber gyro, and the object to be measured is detected based on each of these detection results. The twist angle around the vertical axis of the object is calculated.

Here, because of the structure of the optical fiber gyro compass, it is necessary to fix it so that the object to be measured does not move when detecting the absolute azimuth. On the other hand, the optical fiber gyro can detect the rotational angular velocity of the moving object to be measured.

Therefore, in the present invention, first, the absolute azimuth with respect to the object to be measured is detected by the optical fiber gyrocompass when the object to be measured is stopped, and the first light is detected when the object to be measured is moving. The rotational angular velocity is detected by the fiber gyro, and the twist angle of the measured object is calculated based on these detection results. With this, according to the present invention, the rolling can be constantly monitored regardless of the operating state of the DUT, and in particular, it is not necessary to stop the DUT after the absolute azimuth is detected. It is possible to continuously measure without lowering other work efficiency.

Further, it is preferable that the above-mentioned optical fiber gyro compass includes a second optical fiber gyro and a turntable for rotating the sensing loop surface while keeping the sensing loop surface vertical. When the sensing loop surface of this second fiber optic gyro is rotated vertically, the interference state of light traveling back and forth within the sensing loop changes depending on the relationship between the direction of the sensing loop surface and the rotation direction of the earth. Therefore, by detecting this interference state, the true north direction (same for other directions such as true south) can be easily known as the absolute azimuth.

Further, the first and second optical fiber gyros can be formed as the same optical fiber gyro if necessary. As a result, the configuration of the entire device can be simplified.

The above-mentioned optical fiber gyro compass and the first optical fiber gyro are installed in an excavator that excavates a slot in the vertical direction, and more specifically, excavation for excavating a deep continuous underground wall. It is suitable for measuring the helix angle of an excavator used in a machine, a cast-in-place pile method or an excavator used in a vertical excavation shield method. According to the present invention, the twist angle of an excavator used in such various construction methods can be measured in real time during excavation work.

[0026]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment to which the rolling measuring device of the present invention is applied will be specifically described below with reference to the drawings. For example, a case will be described where a rolling measuring device is attached to an excavator that excavates a deep underground wall to monitor the rolling state of the excavator.

FIG. 1 is a diagram showing the overall construction of an excavation system according to an embodiment of the present invention.

The excavation system shown in the same figure is an excavator 10 that is vertically suspended by a wire (not shown) to excavate a vertical slot in the ground, and a plurality of excavators used to stabilize the excavator 10 in the slot. Adjustable guide 12 of
An excavator operation panel 14 that controls the excavator 10 is included.

The operator operates the operation panel 14 to perform excavation of a groove using an excavator along a planned excavation route.

When excavating such a continuous underground wall, it is necessary to accurately detect and control the position and orientation of the excavator 10.

Therefore, in the excavation system of this embodiment, the optical gyro sensor package 20 for detecting the rolling state (twist angle) of the excavator 10, the inclinometer 22 for detecting the inclined state of the excavator 10, and the excavator 10 are provided. 2 that functions as a position measurement sensor that detects the horizontal position and depth of the
4, position detector 26, XY slide table 28
A displacement recorder 30, a rotary encoder 32, a depth meter 34, and a data recorder 36 that records data measured by the various sensors described above, that is, data on the twisted state, the tilted state, the horizontal position, and the depth of the excavator 10. And a computer 38 that performs a predetermined calculation based on these data and sends a control instruction to the excavator operation panel 14.

The optical gyro sensor package 20 is for detecting absolute and relative twist angles around the vertical axis of the excavator 10. The sensor output of the optical gyro sensor package 20 is input to the data recorder 36 via the rotation measurement cable 40, is temporarily stored in the computer 38, and then is input to the computer 38. Absolute and relative twist angle calculations are performed. The detailed configuration and operation of the optical gyro sensor package 20 will be described later.

The inclinometer 22 is for detecting the inclination angle of the entire excavator 10. The output of the inclinometer 22 is input to the data recorder 36 via the inclination measuring cable 42 and stored therein.

Cable 2 which functions as a position measuring sensor
4, the position detector 26, the XY slide table 28, and the displacement meter 30 are for detecting the position of the excavator 10 in the horizontal plane (XY plane) direction. The position detector 26 detects the tilted state of the position measuring sensor cable 24, and the XY slide table 28 is moved so that the tilted direction is the vertical direction. Then, the displacement in the horizontal direction of the excavator 10 can be obtained by measuring the amount of movement in the X and Y directions with the displacement meter 30.

The rotary encoder 32 and the depth gauge 34 are for determining the depth of the excavator 10 (position in the Z-axis direction). When the cable 24 is wound around the pulley, the rotation of the pulley is detected by the rotary encoder 32, and the depth of the excavator 10 is measured by calculating the depth based on the rotation number by the depth meter 34.

The outputs of the displacement meter 30 and the depth meter 34 described above are both input to the data recorder 36, temporarily stored therein, and then input to the computer 38.

The excavation system of this embodiment has such a configuration, and the computer 38 for inputting or calculating various kinds of data is used when the excavator 10 deviates from the target trajectory. The effect is displayed on a display not shown, or processing such as sounding an alarm buzzer on the excavator operation panel 14 is performed.

FIG. 2 shows a specific internal structure of the optical sensor package 20, and FIG. 3 shows its circuit structure.

The optical sensor package 20 is provided therein with a base 44, a yaw rate sensor 48, an optical fiber gyro compass 46, and the like. The package 20 is formed as a water resistant container and is fixed to the upper surface of the excavator 10 as shown in FIG.

As shown in FIG. 9, the optical fiber gyro compass 46 detects the absolute orientation of the excavator 10 around the vertical axis 300, and the yaw rate sensor 48 detects the relative orientation of the excavator 10 around the vertical axis 300. Is configured to detect Therefore, the absolute azimuth of the excavator 10 is detected in advance by the optical fiber gyro compass 46,
After that, the yaw rate sensor 48 detects the relative azimuth based on this absolute azimuth, whereby the torsion angle around the vertical axis of the excavator 10 can be measured.

In particular, the optical fiber gyro compass 4
Due to its structure, 6 cannot measure its absolute azimuth unless the excavator 10 is stationary. However, according to the present invention, the relative direction of the optical fiber gyro compass 46 is detected even when the excavator 10 is operating. Yaw rate sensor 4
By combining eight, it becomes possible to continuously measure the twist angle around the vertical axis even during the excavation operation of the excavator 10.

The configuration will be described in detail below.

In the embodiment, the base 44 is integrally fixed to the excavator 10.

The optical fiber gyro compass 46 is mounted and fixed on the base 44 so as to be rotatable in the horizontal direction indicated by an arrow 200. Here, the optical fiber gyro compass 46 includes a turntable 52 fixedly mounted on a base 44 so as to be rotatable in the horizontal direction shown by an arrow 200, and the turntable 52 in a direction shown by an arrow 200 in the figure. A rotary pulse motor 50 that is rotationally driven, a fixed base 54 that is fixedly mounted on the turntable 52 so as to be tiltable in the vertical direction shown by arrow 210 in the figure, and fixed integrally on the fixed base 54. The optical fiber gyro 58, the tilt angle sensor 60 mounted on the fixed base 54 and detecting the tilt angle, and the fixed base 5 so that the tilt angle detected by the tilt angle sensor 60 is zero.
4 is configured to include a vertical pulse motor 56 for controlling tilting in the direction indicated by arrow 210 in the figure.

The optical fiber gyro compass 46 uses a pulse motor 50 and a turntable 52.
When rotationally driving, the true north direction is detected as an absolute azimuth based on the rotation angular velocity signal output from the optical fiber gyro 58, and the orientation of the excavator 10 with respect to the true north direction is set as the reference azimuth. The absolute azimuth measurement by the optical fiber gyro compass 46 is performed when the excavation work by the excavator 10 is stopped and the excavator 10 is stopped, for example, before the excavation work is started or at rest.

The yaw rate sensor 48 is constructed by using an optical fiber gyro and is fixedly mounted on the base 44. The optical fiber gyro that constitutes the yaw rate sensor 48 is the base 44, that is, the excavator 1
The rotational angular velocity around the vertical axis of 0 is detected. The detection of the rotational angular velocity does not require stopping the excavator 10 as in the case of detecting the true north direction described above, and therefore the measurement can be continuously performed even while the excavator 10 is in operation. .

Next, the specific configurations of the optical fiber gyro 58 and the yaw rate sensor 48 will be described. These optical fiber gyro 58 and yaw rate sensor 48 are
The optical fiber gyro 100 having the same structure as shown in FIG. 4 is used.

The optical fiber gyro 100 includes a sensing loop portion 110 formed by winding an optical fiber 112 in a loop, a phase modulator 114, and a polarizer 11.
6, optical couplers 118 and 122, a light source 120, and a photodetector 124.

The optical fiber 112 is a long optical fiber (for example, 1 km) and has a relatively small diameter (for example, 2.5 cm).
By forming the sensing loop portion 110 by winding the wire around, the detection sensitivity is improved.

In the optical fiber gyro 100 configured as above, when the light output from the light source 120 is propagated to the sensing loop section 110 which constitutes a loop-shaped optical path, when the optical path itself is rotated, The rotation angular velocity can be detected by utilizing the Sagnac effect that a propagation time difference is generated between the surrounding light and the counterclockwise light. As such an optical fiber gyro, various types such as an optical interference type optical fiber gyro and a passive ring resonance type optical fiber gyro are known, and any type may be used. Such an optical fiber gyro generally has no moving parts as compared with a mechanical gyro, and therefore has an advantage of being strong against acceleration and vibration, and has an effect of being less likely to be damaged by vibration of the excavator 10. . In the embodiment, an optical interference type optical fiber gyro is described as an example.

Then, for example, the light source 120 is constituted by a semiconductor laser diode or the like, and the laser light of a predetermined frequency emitted from this light source 120 is passed through the coupler 118, the polarizer 116 and the coupler 122 to the sensing loop section 110. Enter as clockwise and counterclockwise light respectively. The light thus input is transmitted through the phase modulator 11
4 and polarized by the polarizer 116, the photodetector 12
Detected in 4. In this way, the rotational angular velocity of the sensing loop unit 110 can be calculated by measuring the interference state of the two lights detected by the photodetector 124.

FIG. 5 shows the optical fiber gyro 100.
The operating principle of is schematically shown. This optical fiber gyro 100 has the sensing loop unit 1 as described above.
Only the rotational angular velocity of the sensing loop surface 110a of 10 is detected. Therefore, when the rotational angular velocity Ω is generated in the direction inclined by θ with respect to the sensing loop surface 110a,
The angular velocity ωθ sensed by the sensing loop unit 110
Is ωθ = Ω · cosθ.

The optical fiber gyro 58 and the yaw rate sensor 48 of the embodiment are the sensing loop surface 1 of the optical fiber gyro 100 configured as shown in FIG.
10a is attached and fixed so as to be perpendicular to the ground. Particularly, in the optical fiber gyro compass 46, when the tilt angle detected by the tilt angle sensor 60 becomes 0, the sensing loop surface 1 of the optical fiber gyro 58 is detected.
12 is set to be vertical.

By doing so, the angular velocity of rotation of the excavator 10 around the vertical axis can be satisfactorily detected using the optical fiber gyro 58 and the yaw rate sensor 48.

6 and 7 show the principle of absolute azimuth measurement by the optical fiber gyro compass 46.

First, as shown in FIG. 6, the sensing loop surface 110a of the optical fiber gyro 100 is set perpendicular to the ground. Then, the turntable 52 is rotated to direct the sensing loop surface 110a in a plurality of directions,
Detects the rotation angular velocity of the earth. FIG. 7 shows the detection signal output from the optical fiber gyro 100 at this time. As shown in the figure, the sensing loop surface 110
This output becomes 0 when a is directed to true north or true south. In this way, the true north or true south direction can be detected as the absolute azimuth.

Optical fiber gyro compass 46 of the embodiment
Using such a principle, the true north direction is detected as the absolute direction while rotating the turntable 52, and the direction in which the excavator 10 is currently facing is detected as the reference direction based on the true north direction. Is configured to.

FIG. 3 shows a circuit configuration of the rolling measurement system of the embodiment.

The sensor package 20 of the embodiment is formed as a water pressure resistant container, and is configured so that the liquid does not enter inside even if the groove is filled with the stabilizing liquid.

The sensor package 20 has an I / O
It is configured to be connected to an external data recorder 36, a computer 38, etc. via an interface 62 and a waterproof connector 64.

In an embodiment, the computer 38
Is a compass control unit 70 and rolling calculation means 72.
Is configured to function as.

The compass control unit 70 includes a cable 40
A control signal is output to the motor actuators 66 and 68 inside the sensor package 20 via the to control the pulse motors 50 and 56.

The rolling calculation means 72 is a yaw rate sensor 48 input via the data recorder 36.
Based on the detection signal of the optical fiber gyro 50, the excavator 1
The rolling state of 0, that is, the twist angle around the vertical axis of the excavator 10 is detected.

Specifically, this rolling calculation means 72
Is an absolute azimuth calculation means for calculating the absolute azimuth of the excavator 10 based on the detection signal of the optical fiber gyro 50, a relative azimuth calculation means for calculating the relative azimuth of the excavator 10 based on the detection signal of the yaw rate sensor 48, and It is configured to function as a twist angle calculating means for calculating a twist angle around the vertical axis of the excavator 10 based on the absolute direction and the relative direction. FIG. 8 shows an operation flowchart of the rolling measurement system of the embodiment.

First, when the excavator 10 is stopped, the optical gyro sensor package 2 is transferred from the compass controller 70 of the computer 38 via the rotation measurement cable 40.
A control command is output to the optical fiber gyro compass 46 within 0 to measure the absolute direction of the excavator 10 (step S1).

Specifically, based on a control command from the compass controller 70, the motor actuator 68 drives the vertical pulse motor 56 to vertically control the sensing loop surface of the optical fiber gyro 58. Compass control unit 7
0 monitors the output of the tilt angle sensor 60 and stops the rotation of the vertical pulse motor 50 when the sensing loop surface of the optical fiber gyro 50 becomes vertical.

In this way, the optical fiber gyro 58
The compass control unit 70 then outputs a control command to the motor actuator 66 in a state where the sensing loop surface of No. 2 is kept vertical, and drives the rotation pulse motor 50 to discontinuously rotate at regular intervals. In the embodiment, the turntable 52 is rotationally driven discontinuously in one direction at intervals of 36 degrees, and the rotation of the turntable 52 is stopped every 36 degrees.

In this way, the detection signal of the optical fiber gyro 50 measured for one round (360 degrees) is input to the rolling calculation means 72 via the data recorder 36, and the rolling calculation means 72 receives the input detection. The true north direction is detected based on the signal.

That is, when the sensing loop surface of the optical fiber gyro 50 faces the true north, the rotation direction of the earth and this sensing loop surface intersect at a right angle, so θ shown in FIG. 5 becomes 90 degrees, The angular velocity shown in FIG. 7 is also zero. Therefore, the rolling calculation means 72 is
The true north direction can be detected by calculating the direction in which the detection signal input from the optical fiber gyro 50 becomes “0”.

In this way, if the true north direction is known, the current twisting state of the excavator 10 can be accurately known. Therefore, the rolling operation means 72 causes the rotation angle θ ₀ representing the current twist position from the true north direction. Is obtained as a reference azimuth.

When the measurement of the reference azimuth is completed in this way, the actual excavation work by the excavator 10 is then started (step S2).

In parallel with the excavation work by the excavator 10, the rolling calculation means 72 is operated by the yaw rate sensor 48.
The relative azimuth of the excavator 10 is measured based on the detection signal output from (step S3).

That is, since the yaw rate sensor 48 is installed so that the sensing loop surface of the optical fiber gyro that constitutes the yaw rate sensor 48 is perpendicular to the wire that suspends the excavator 10, the excavator 10 excavates. When the wire rotates around this wire, the yaw rate sensor 48 outputs a detection signal representing the rotational angular velocity at this time. The rolling calculation means 72 calculates the twist angle θ ₁ with respect to the reference azimuth based on the detection signal thus input. Specifically, by integrating the rotational angular velocity output from the yaw rate sensor 48,
The twist angle θ ₁ representing the relative azimuth can be calculated.

Then, the rolling calculation means 72 adds and subtracts the reference azimuth θ ₀ and the relative azimuth θ ₁ obtained in this way, and the excavator 10 with the true north direction as a reference.
The twist angle θ around the vertical axis (around the wire that suspends the excavator 10) is calculated (step S4).

The twist angle θ thus obtained is sent from the rolling calculation means 72 to the excavator control panel 14 and reflected in the control, and a predetermined attitude control is automatically performed (step S5). The calculation result may be displayed only on the display 74 connected to the computer 38. In this case, a worker or the like who sees this display operates the excavator operation panel 14 to check the excavation state of the excavator 10. To control.

In this way, the twist angle is calculated in parallel with the excavation operation. When excavation is continued (step S6), the processes of steps S2 to S5 are repeated.

Further, a series of excavation is completed (step S
6) When preparing for excavation of the next groove, this preparation time may be used to perform the absolute azimuth measurement in step S1 for the next excavation.

As described above, according to the rolling measuring device using the optical gyro sensor package 20 of this embodiment,
The absolute azimuth of the excavator 10 is measured by the optical fiber gyro compass 46 while the excavator 10 is stopped, and the rotational angular velocity of the excavator 10 is measured by the yaw rate sensor 48 during excavation work using the excavator 10. The personal computer 38 calculates the twist angle of the excavator 10 at the present time based on the absolute azimuth and the rotational angular velocity.

Therefore, even during the excavation work of the excavator 10, the twisting state (rolling state) of the excavator 10 can be continuously monitored in real time, and the excavation as in the conventional case is performed to monitor the rolling state. Since it is not necessary to interrupt work, work efficiency is not reduced.

The present invention is not limited to the above embodiment, but various modifications can be made within the scope of the present invention.

For example, the optical gyro sensor package 20 described above is provided with the optical fiber gyro compass 46 and the yaw rate sensor 48 separately, but the operation of the yaw rate sensor 48 is performed by the optical fiber gyro compass 46.
Alternatively, the yaw rate sensor 48 may be omitted. That is, only the optical fiber gyro compass 46 is used when the excavation work is stopped, and only the yaw rate sensor 48 is used during the excavation work. Moreover, the yaw rate sensor 48 has substantially the same configuration as the optical fiber gyro 58 in the optical fiber gyro compass 46. Therefore, the operation of the yaw rate sensor 48 can be performed by the optical fiber gyro compass 46.

Further, in the above-mentioned embodiment, the case of monitoring the rolling state of the excavator 10 for excavating the deep underground wall is explained as an example, but the present invention excavates other kinds of slots. It can also be applied when monitoring the rolling condition of an excavator.

For example, when the optical gyro sensor package 20 of this embodiment is attached to an excavator used in the cast-in-place pile method, or in the excavator used in the vertical excavation shield method, the optical gyro sensor package of this embodiment is used. A case where 20 is attached may be considered. In any case, the rolling state of the excavator for excavating the slot can be continuously measured without interrupting the work.

[0084]

As described above, according to the present invention, the absolute azimuth detected by the optical fiber gyrocompass when the object to be measured is stopped and the first optical fiber when the object to be measured is moving. The twist angle of the object to be measured can be calculated based on the rotational angular velocity detected by the gyro, which has the effect that the rolling of the object can be continuously monitored even during operation. .
In particular, according to the present invention, it is possible to measure the rolling state without lowering other work efficiency.

[0085]

[Brief description of drawings]

FIG. 1 is a diagram showing an overall configuration of an excavation system according to an embodiment to which the present invention is applied.

FIG. 2 is a diagram showing a detailed configuration of an optical gyro sensor package.

FIG. 3 is a block diagram showing a circuit configuration of the system of the embodiment.

FIG. 4 is a diagram showing an example of a configuration of an interference-type optical fiber gyro.

FIG. 5 is an explanatory diagram of the principle of angular velocity detection of the optical fiber gyro of the embodiment.

FIG. 6 is an explanatory diagram of a principle of detecting an absolute direction of an optical fiber gyro.

7 is an explanatory diagram of a detection signal output from the sensing loop unit shown in FIG.

FIG. 8 is a flowchart showing a rolling measurement operation of the apparatus of the embodiment.

9A and 9B are explanatory views showing a posture of a cutting machine during a cutting operation, in which FIG. 9A is a front view thereof, FIG. 9B is a side view thereof, and FIG. Is.

[Explanation of symbols]

 10 excavator 20 optical gyro sensor package 36 data recorder 38 computer 44 base 46 optical fiber gyro compass 50 rotation pulse motor 52 turntable 54 fixed base 56 vertical pulse motor 58 optical fiber gyro 60 tilt angle sensor 70 compass control means 72 Rolling calculation means

Claims (8)

[Claims] 1. An optical fiber gyro compass for detecting an absolute azimuth around a vertical axis of an object to be measured, a first optical fiber gyro for detecting a rotational angular velocity of the object to be measured, and a vertical axis around the vertical axis of the object to be measured. Rolling arithmetic means for computing the twist angle of the optical fiber gyro compass, wherein the optical fiber gyro compass includes: a second optical fiber gyro for detecting a rotational angular velocity of an object to be measured; and a turntable for rotating the second optical fiber gyro. Wherein the rolling calculation means calculates the absolute azimuth with respect to the object to be measured based on the output of the second optical fiber gyro obtained when the turntable is rotated. And a relative azimuth calculation means for detecting a relative azimuth of the object to be measured based on the rotational angular velocity detected by the first optical fiber gyro, Based on the pair orientation and relative azimuth, anda twist angle calculating means for calculating a twist angle of the vertical axis of the object, a rolling measuring apparatus characterized by measuring the rolling of the object to be measured. 2. The first and second optical fiber gyros according to claim 1, wherein the first and second optical fiber gyros have a sensing loop portion in which an optical fiber is formed in a loop shape, and are formed so as to detect a rotational angular velocity of the sensing loop portion. The rolling measuring device is characterized in that the turntable is formed to rotate while keeping the sensing loop surface of the second optical fiber gyro substantially perpendicular to the ground. 3. The rolling measuring device according to claim 1, wherein the first and second optical fiber gyros are formed as the same optical fiber gyro. 4. The absolute azimuth calculation means according to claim 1, wherein the absolute azimuth calculation means detects an angle from true north or true south with respect to the object to be measured as an absolute azimuth, and the object to be measured with respect to the absolute azimuth. The rolling measurement device is formed so as to calculate an orientation as a reference azimuth, and the relative azimuth calculation unit is formed to calculate a rotation angle from the reference azimuth as a relative azimuth of the object to be measured. 5. The absolute azimuth calculation means according to claim 1, wherein the absolute azimuth calculation means obtains the second light obtained when the turntable is rotated while the movement of the object to be measured is stopped. A rolling measuring device, which calculates an absolute azimuth with respect to an object to be measured based on the output of a fiber gyro. 6. The excavator according to claim 1, wherein the optical fiber gyro compass and the first optical fiber gyro are installed in an excavator for continuous underground wall excavation, and the twist of the excavator is used. A rolling measuring device characterized by measuring an angle. 7. The optical fiber gyro compass according to claim 1, wherein the optical fiber gyro compass and the first optical fiber gyro are installed in an underground excavator used in a cast-in-place pile construction method or the like, and A rolling measuring device characterized by measuring the torsion angle of a medium excavator. 8. The excavator according to claim 1, wherein the optical fiber gyro compass and the first optical fiber gyro are installed in an excavator used in a vertical excavation shield method. A rolling measuring device characterized by measuring a twist angle.